#

zjj

2025-06-18 5ca0a23db33677dcaa464cfa23f497d6a411f796

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -5,6 +5,7 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.TaskOverToWms;
@@ -213,6 +214,9 @@
                            if (taskWrk.getStatus() != 2){
                                continue;
                            }
                            if (!staProtocol.isPakMk()){
                                continue;
                            }
                            //获取堆垛机站点
                            StaDesc staDesc = new StaDesc();
                            if (devp.getId() <= 1){
@@ -222,9 +226,7 @@
                                staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                        .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 400).ge("stn_no", 250));
                            }
                            if (!staProtocol.isPakMk()){
                                continue;
                            }

                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                            staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
@@ -317,7 +319,6 @@
    /**
     * 堆垛机站出库到出库站
     */
    @Async
    public void crnStnToOutStn() {
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 遍历堆垛机出库站
@@ -353,23 +354,28 @@
                                    && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                                // 命令下发区 --------------------------------------------------------------------------

                                //取出输送线命令
                                List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
                                if (commandInfos.isEmpty()) {
                                    continue;//命令空
                                }
                                try {
                                    //取出输送线命令
                                    List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
                                    if (commandInfos.isEmpty()) {
                                        continue;//命令空
                                    }

//                                CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
//                                CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
                                Integer commandStep = taskWrk.getCommandStep();
                                CommandInfo commandInfo = commandInfos.get(commandStep);
                                CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
                                //StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
                                StaProtocol staProtocol1 = JSON.parseObject(commandPackage.getCommand().toString(), StaProtocol.class);
                                if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
                                    log.error("输送线命令下方失败！！！ [工作号:{}]", taskWrk.getWrkNo());
                                    continue;//命令下发失败
                                    Integer commandStep = taskWrk.getCommandStep();
                                    CommandInfo commandInfo = commandInfos.get(commandStep);
                                    CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
                                    //StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
                                    StaProtocol staProtocol1 = JSON.parseObject(commandPackage.getCommand().toString(), StaProtocol.class);
                                    if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
                                        log.error("输送线命令下方失败！！！ [工作号:{}]", taskWrk.getWrkNo());
                                        continue;//命令下发失败
                                    }
                                }catch (Exception e){
                                    throw new CoolException("取出输送线命令失败");
                                }

                                // 复位堆垛机
                                crnThread.setResetFlag(true);

@@ -834,7 +840,7 @@
    /**
     * 执行对工作档的完成操作
     */
    @Async

    public void storeFinished() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
@@ -938,7 +944,7 @@
    /**
     * 堆垛机异常信息记录
     */
    @Async

    public void recCrnErr(){
        Date now = new Date();
        for (CrnSlave crn : slaveProperties.getCrn()) {